David Gonon
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View article: Inverse Reinforcement Learning of Pedestrian–Robot Coordination
Inverse Reinforcement Learning of Pedestrian–Robot Coordination Open
We apply inverse reinforcement learning (IRL) with a novel cost feature to the problem of robot navigation in human crowds. Consistent with prior empirical work on pedestrian behavior, the feature anticipates collisions between agents. We …
View article: Pedestrian-Robot Interactions on Autonomous Crowd Navigation: Reactive Control Methods and Evaluation Metrics
Pedestrian-Robot Interactions on Autonomous Crowd Navigation: Reactive Control Methods and Evaluation Metrics Open
Autonomous navigation in highly populated areas remains a challenging task for robots because of the difficulty in guaranteeing safe interactions with pedestrians in unstructured situations. In this work, we present a crowd navigation cont…
View article: Robots' Motion Planning in Human Crowds by Acceleration Obstacles
Robots' Motion Planning in Human Crowds by Acceleration Obstacles Open
We study the Acceleration Obstacle (AO) as a concept to enable a robot's navigation in human crowds. The AO's geometric properties are analyzed and a direct sampling-free algorithm is proposed to approximate its boundary by linear constrai…
View article: Pedestrian-Robot Interactions on Autonomous Crowd Navigation: Reactive Control Methods and Evaluation Metrics
Pedestrian-Robot Interactions on Autonomous Crowd Navigation: Reactive Control Methods and Evaluation Metrics Open
Autonomous navigation in highly populated areas remains a challenging task for robots because of the difficulty in guaranteeing safe interactions with pedestrians in unstructured situations. In this work, we present a crowd navigation cont…
View article: Crowd against the machine: A simulation-based benchmark tool to evaluate and compare robot capabilities to navigate a human crowd
Crowd against the machine: A simulation-based benchmark tool to evaluate and compare robot capabilities to navigate a human crowd Open
The evaluation of robot capabilities to navigate human crowds is essential to conceive new robots intended to operate in public spaces. This paper initiates the development of a benchmark tool to evaluate such capabilities; our long term v…
View article: Reactive Navigation in Crowds for Non-Holonomic Robots With Convex Bounding Shape
Reactive Navigation in Crowds for Non-Holonomic Robots With Convex Bounding Shape Open
This paper describes a novel method for non-holonomic robots of convex shape to avoid imminent collisions with moving obstacles. The method's purpose is to assist navigation in crowds by correcting steering from the robot's path planner or…